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<a href="broadphase__test_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * broadphase_test.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Nov 26, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef TESTS_COLLISION_BROADPHASE_TEST_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define TESTS_COLLISION_BROADPHASE_TEST_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">class </span>CollisionChecker;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">class </span>ShapeGroup;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacetest.html">test</a> {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#aaa3cf6a4e993c90687c04e9895e4d177">in_diagnose_struct</a>(<span class="keyword">const</span> CollisionObject *obj);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a2385c8f84fe008797bc23bea612685a4">log_parentmap_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                           <span class="keyword">const</span> CollisionChecker *cc);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">test_tolerance_check</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                          <span class="keyword">const</span> CollisionChecker *cc);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(<span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                                      <span class="keyword">const</span> CollisionObject *obj);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(<span class="keyword">const</span> CollisionObject *obj1,</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                                      <span class="keyword">const</span> CollisionObject *obj2);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt;&gt; &amp;failure_pair_export);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                                  <span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a5af3e71a3a130019e8ca5549b422cd8c">serialize_narrowphase_failure_helper_obj</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj1,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                             <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">serialize_narrowphase_failure_helper</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj1,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                         <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj2);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt;&gt; &amp;failure_pair_export);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;std::string <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(std::string prefix, <span class="keywordtype">int</span> max_files,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                          std::string directory);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classcollision_1_1test_1_1_collision_checker_test.html">   59</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html">CollisionCheckerTest</a> {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#ad6f104b12727529c3e91b29b21e07f6b">run_test_collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                        <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#adea6847b8308d19c0ed26f6acc169bec">run_test_collide_obstacle</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#aa064302d3248cdbd8985ae9f9d06a9fa">run_test_collide_obstacles</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// TODO: test collision_time</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// CollisionChecker currently always uses FCL for elementary object-object</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// checks</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span> test_collide(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">bool</span> test_collide_obstacle(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">bool</span> test_collide_obstacles(</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a> *cc,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      std::vector&lt;CollisionObjectConstPtr&gt; &amp;missed_obstacles,</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      std::vector&lt;CollisionObjectConstPtr&gt; &amp;missed_obstacles_primit);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> cmp(<span class="keyword">const</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;a,</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                  <span class="keyword">const</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;b);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">bool</span> test_narrowphase(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_checker.html">CollisionChecker</a> *cc,</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                        std::vector&lt;int&gt; *failure_export);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;};</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classcollision_1_1test_1_1_shape_group_test.html">   88</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1test_1_1_shape_group_test.html">ShapeGroupTest</a> {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">run_test_collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">run_test_collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg2);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">bool</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">test_overlap_map</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg2,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                   std::vector&lt;std::pair&lt;int, int&gt;&gt; *missed_col_naive_out = 0);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">run_test_narrowphase</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">run_test_narrowphase</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg2);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> cmp(<span class="keyword">const</span> std::pair&lt;int, int&gt; &amp;pair1,</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                  <span class="keyword">const</span> std::pair&lt;int, int&gt; &amp;pair2);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordtype">bool</span> test_collide(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">bool</span> test_collide(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg2);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">bool</span> test_narrowphase(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg,</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                        std::vector&lt;int&gt; *failure_export = 0);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">bool</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  test_narrowphase(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *sg2,</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                   std::vector&lt;std::pair&lt;int, int&gt;&gt; *failure_pair_export = 0);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;};</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;} <span class="comment">// namespace test</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* TESTS_COLLISION_BROADPHASE_TEST_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a></div><div class="ttdef"><b>Definition:</b> <a href="broadphase__test_8h_source.html#l00088">broadphase_test.h:88</a></div></div>
<div class="ttc" id="namespacecollision_html_aeb672fde41a9aa0fcc1c5da8af2e4657"><div class="ttname"><a href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">collision::ShapeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Shape &gt; ShapeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00098">collision_object.h:98</a></div></div>
<div class="ttc" id="namespacetest_html"><div class="ttname"><a href="namespacetest.html">test</a></div><div class="ttdef"><b>Definition:</b> <a href="performance__timers_8cc_source.html#l00015">performance_timers.cc:15</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a5af3e71a3a130019e8ca5549b422cd8c"><div class="ttname"><a href="namespacecollision_1_1test.html#a5af3e71a3a130019e8ca5549b422cd8c">collision::test::serialize_narrowphase_failure_helper_obj</a></div><div class="ttdeci">int serialize_narrowphase_failure_helper_obj(CollisionObjectConstPtr obj1, CollisionObjectConstPtr obj2)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a1a0cfe3788cdfe0cfef2ea514f587542"><div class="ttname"><a href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">collision::test::log_narrowphase_failure</a></div><div class="ttdeci">int log_narrowphase_failure(const ShapeGroup *sg1, const ShapeGroup *sg2, const std::vector&lt; std::pair&lt; int, int &gt;&gt; &amp;failure_pair_export)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_af8b3a3504735942b09ce47ad0c33f81a"><div class="ttname"><a href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">collision::test::serialize_broadphase_failure_test</a></div><div class="ttdeci">int serialize_broadphase_failure_test(const CollisionChecker *cc, const CollisionObject *obj)</div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00033">shape_group.h:33</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_checker_html"><div class="ttname"><a href="classcollision_1_1_collision_checker.html">collision::CollisionChecker</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00045">collision_checker.h:45</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_af0536b7bcba1a80ae6aa4907f88f12b0"><div class="ttname"><a href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">collision::test::get_free_file</a></div><div class="ttdeci">std::string get_free_file(std::string prefix, int max_files, std::string directory)</div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_aaa3cf6a4e993c90687c04e9895e4d177"><div class="ttname"><a href="namespacecollision_1_1test.html#aaa3cf6a4e993c90687c04e9895e4d177">collision::test::in_diagnose_struct</a></div><div class="ttdeci">int in_diagnose_struct(const CollisionObject *obj)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a183ce295a1837280f09ef456a3533b6b"><div class="ttname"><a href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">collision::test::serialize_narrowphase_failure</a></div><div class="ttdeci">int serialize_narrowphase_failure(ShapeConstPtr co, const ShapeGroup *sg, const std::vector&lt; int &gt; &amp;failure_export)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_ad41dbbaf44670796d414e27cd9457a53"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">collision::test::ShapeGroupTest::run_test_collide</a></div><div class="ttdeci">bool run_test_collide(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a6b8e7afe85eba8f28f984a68370c4af0"><div class="ttname"><a href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">collision::test::serialize_narrowphase_failure_helper</a></div><div class="ttdeci">int serialize_narrowphase_failure_helper(ShapeConstPtr obj1, ShapeConstPtr obj2)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_ad6f104b12727529c3e91b29b21e07f6b"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#ad6f104b12727529c3e91b29b21e07f6b">collision::test::CollisionCheckerTest::run_test_collide</a></div><div class="ttdeci">bool run_test_collide(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_adea6847b8308d19c0ed26f6acc169bec"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#adea6847b8308d19c0ed26f6acc169bec">collision::test::CollisionCheckerTest::run_test_collide_obstacle</a></div><div class="ttdeci">bool run_test_collide_obstacle(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_afc7e93e0813ceb9bb9ae532ce7931edd"><div class="ttname"><a href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">collision::test::test_tolerance_check</a></div><div class="ttdeci">bool test_tolerance_check(CollisionObjectConstPtr co, const CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_a2c2d47482f2494547b4fd4a16a023cde"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">collision::test::ShapeGroupTest::test_overlap_map</a></div><div class="ttdeci">bool test_overlap_map(const ShapeGroup *sg1, const ShapeGroup *sg2, std::vector&lt; std::pair&lt; int, int &gt;&gt; *missed_col_naive_out=0)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a6cc258c3990b4c3a8d0a4c6157012e3a"><div class="ttname"><a href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">collision::test::log_broadphase_failure</a></div><div class="ttdeci">int log_broadphase_failure(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_aa064302d3248cdbd8985ae9f9d06a9fa"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#aa064302d3248cdbd8985ae9f9d06a9fa">collision::test::CollisionCheckerTest::run_test_collide_obstacles</a></div><div class="ttdeci">bool run_test_collide_obstacles(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html">collision::test::CollisionCheckerTest</a></div><div class="ttdef"><b>Definition:</b> <a href="broadphase__test_8h_source.html#l00059">broadphase_test.h:59</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a2385c8f84fe008797bc23bea612685a4"><div class="ttname"><a href="namespacecollision_1_1test.html#a2385c8f84fe008797bc23bea612685a4">collision::test::log_parentmap_failure</a></div><div class="ttdeci">int log_parentmap_failure(CollisionObjectConstPtr co)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_adc5f5a28b1a6cee9de57a69f15f3e0bc"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">collision::test::ShapeGroupTest::run_test_narrowphase</a></div><div class="ttdeci">bool run_test_narrowphase(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
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